Search
CSV
RISDesign Conditions for the Orientation and Attitude of a Robot Tool Carried by a 3-R Spherical Wrist
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The orientational (directional) and attitudinal capabilities for a generally-dimensioned 3-R spherical robot-wrist are presented. The wrist is treated both with joints which can freely rotate and ...
Substitute-Wrists to Aid in the Placing of Tools on Robots With 3-R Spherical Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper treats the three-jointed spherical wrist on which the tool is placed at an angle δ ≠ 0. A two-parameter set of axes is identified for the wrist such that the angular velocities ...